// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
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// modification, are permitted provided that the following conditions are
// met:
//
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//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
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#ifndef G2O_EDGE_SE3_POINT_XYZ_H_
#define G2O_EDGE_SE3_POINT_XYZ_H_

#include "g2o/core/base_binary_edge.h"
#include "g2o_types_slam3d_api.h"
#include "parameter_se3_offset.h"
#include "vertex_pointxyz.h"
#include "vertex_se3.h"

namespace g2o {

/*! \class EdgeSE3PointXYZ
 * \brief g2o edge from a track to a point node
 */
// first two args are the measurement type, second two the connection classes
class G2O_TYPES_SLAM3D_API EdgeSE3PointXYZ
    : public BaseBinaryEdge<3, Vector3, VertexSE3, VertexPointXYZ> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  EdgeSE3PointXYZ();
  virtual bool read(std::istream& is);
  virtual bool write(std::ostream& os) const;

  // return the error estimate as a 3-vector
  void computeError();
  // jacobian
  virtual void linearizeOplus();

  virtual void setMeasurement(const Vector3& m) { _measurement = m; }

  virtual bool setMeasurementData(const number_t* d) {
    Eigen::Map<const Vector3> v(d);
    _measurement = v;
    return true;
  }

  virtual bool getMeasurementData(number_t* d) const {
    Eigen::Map<Vector3> v(d);
    v = _measurement;
    return true;
  }

  virtual int measurementDimension() const { return 3; }

  virtual bool setMeasurementFromState();

  virtual number_t initialEstimatePossible(
      const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* to) {
    (void)to;
    return (from.count(_vertices[0]) == 1 ? 1.0 : -1.0);
  }

  virtual void initialEstimate(const OptimizableGraph::VertexSet& from,
                               OptimizableGraph::Vertex* to);

  const ParameterSE3Offset* offsetParameter() { return offsetParam; }

 private:
  Eigen::Matrix<number_t, 3, 9, Eigen::ColMajor>
      J;  // jacobian before projection
  ParameterSE3Offset* offsetParam;
  CacheSE3Offset* cache;
  virtual bool resolveCaches();
};

#ifdef G2O_HAVE_OPENGL
class EdgeSE3PointXYZDrawAction : public DrawAction {
 public:
  EdgeSE3PointXYZDrawAction();
  virtual HyperGraphElementAction* operator()(
      HyperGraph::HyperGraphElement* element,
      HyperGraphElementAction::Parameters* params_);
};
#endif

}  // namespace g2o
#endif
